Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a novel control method for stable object grasping and orientation control using a dual-arm manipulator with multi-fingered hands. The control signal of the proposed method is simple but it can easily achieve stable grasping without external sensors and an orientation control of a grasped object. Firstly, holonomic constraints between a dual-arm manipulator with multi-fingered hands and the object surfaces are formulated, and the stability of the system is discussed through its convergence analysis. Next, it is shown that the relationship between a final orientation of an object and initial contact positions of finger tips becomes quasi-linear. Using this quasi-linear relationship, an orientation control method utilizing regrasping of the object is derived. It is verified that the proposed method enables to perform simple orientation control of the object without real-time external sensing through numerical simulations.

Original languageEnglish
Title of host publication2009 International Conference on Advanced Robotics, ICAR 2009
Publication statusPublished - 2009
Event2009 International Conference on Advanced Robotics, ICAR 2009 - Munich, Germany
Duration: Jun 22 2009Jun 26 2009

Other

Other2009 International Conference on Advanced Robotics, ICAR 2009
CountryGermany
CityMunich
Period6/22/096/26/09

Fingerprint

Manipulators
Sensors
Computer simulation

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Kawamura, A., Tahara, K., Kurazume, R., & Hasegawa, T. (2009). Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. In 2009 International Conference on Advanced Robotics, ICAR 2009 [5174819]

Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. / Kawamura, Akihiro; Tahara, Kenji; Kurazume, Ryo; Hasegawa, Tsutomu.

2009 International Conference on Advanced Robotics, ICAR 2009. 2009. 5174819.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kawamura, A, Tahara, K, Kurazume, R & Hasegawa, T 2009, Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. in 2009 International Conference on Advanced Robotics, ICAR 2009., 5174819, 2009 International Conference on Advanced Robotics, ICAR 2009, Munich, Germany, 6/22/09.
Kawamura A, Tahara K, Kurazume R, Hasegawa T. Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. In 2009 International Conference on Advanced Robotics, ICAR 2009. 2009. 5174819
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